Thanks all. I initially didn't think NXT-G was going to be fast enough either, but the 2.0 version with the 1.28 firmware is significantly faster (I timed it as 3x faster for this task than NXT-G 1.1 with 1.05 firmware). Math and Variable blocks are already very fast (in both versions it turns out), so the PID calculations needed are not a problem at all. I think the key is that now the Color Sensor and Motor blocks are a lot faster (the Light Sensor block is also a lot faster now too).

Saw this and built it tonight. It works on my kitchen counter with no interference from an overhead fluorescent light. Finding an upright resting position was a bit hard in the 3 seconds, so I upped it to 5. It is fun to watch! Thanks Dave for the fun design, the clear instructions, and the great program!

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